MantisInfo.h File Reference
Defines some capabilities of the Mantis robots. More...
#include <cmath>#include <stdlib.h>#include "CommonInfo.h"
Include dependency graph for MantisInfo.h:
Go to the source code of this file.
Classes | |
| class | MantisInfo::MantisCapabilities |
| provides polymorphic robot capability detection/mapping More... | |
Namespaces | |
| namespace | MantisInfo |
Contains information about a Mantis robot, such as number of joints, LEDs, etc. | |
Variables | |
| const char *const | MantisInfo::TargetName = "Mantis" |
| the name of the model, to be used for logging and remote GUIs | |
| const unsigned int | MantisInfo::FrameTime = 32 |
| time between frames in the motion system (milliseconds) | |
| const unsigned int | MantisInfo::NumFrames = 1 |
| the number of frames per buffer (don't forget also double buffered) | |
| const unsigned int | MantisInfo::SoundBufferTime = 32 |
| the number of milliseconds per sound buffer... I'm not sure if this can be changed | |
| const fmat::Column< 3 > | MantisInfo::AgentBoundingBoxBaseFrameOffset = fmat::pack(400,70,350) |
| Offset needed so that the centroid of the robot is correct related to the bounding box. | |
| const fmat::Column< 3 > | MantisInfo::AgentBoundingBoxHalfDims = fmat::pack(100,100,100) |
| Half of the length, width, and height of the robot. | |
Output Types Information | |
| const unsigned | MantisInfo::NumWheels = 0 |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::FingerJointsPerArm = 0 |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::JointsPerArm = 0 |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::NumArms = 0 |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::NumArmJoints = JointsPerArm*NumArms |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::JointsPerFrLeg = 7 |
| The number of joints per front leg. | |
| const unsigned | MantisInfo::JointsPerPosLeg = 4 |
| The number of joints per posterior leg (middle and the back legs). | |
| const unsigned | MantisInfo::NumFrLegs = 2 |
| The number of front legs. | |
| const unsigned | MantisInfo::NumGrippers = NumFrLegs |
| The number of grippers. | |
| const unsigned | MantisInfo::NumPosLegs = 4 |
| The number of posterior legs. | |
| const unsigned | MantisInfo::NumLegs = NumFrLegs + NumPosLegs |
| The number of legs. | |
| const unsigned | MantisInfo::NumFrLegJoints = JointsPerFrLeg*NumFrLegs |
| the TOTAL number of joints in FRONT legs | |
| const unsigned | MantisInfo::NumPosLegJoints = JointsPerPosLeg*NumPosLegs |
| the TOTAL number of joints in POSTERIOR legs | |
| const unsigned | MantisInfo::NumLegJoints = NumFrLegJoints + NumPosLegJoints |
| the TOTAL number of joints on ALL legs | |
| const unsigned | MantisInfo::NumHeadJoints = 3 |
| The number of joints in the pantiltroll. | |
| const unsigned | MantisInfo::NumTailJoints = 0 |
| The number of joints assigned to the tail. | |
| const unsigned | MantisInfo::NumMouthJoints = 0 |
| the number of joints that control the mouth | |
| const unsigned | MantisInfo::NumEarJoints = 0 |
| The number of joints which control the ears (NOT per ear, is total). | |
| const unsigned | MantisInfo::NumButtons = 3 |
| the number of buttons that are available | |
| const unsigned | MantisInfo::NumSensors = 11 |
| the number of sensors available | |
| const unsigned | MantisInfo::NumFacePanelLEDs = 0 |
| The number of face panel LEDs. | |
| const unsigned | MantisInfo::NumPIDJoints = NumArmJoints + 1 + NumLegJoints + NumHeadJoints + NumTailJoints + NumMouthJoints |
| servo pins (also includes the thorax joint) | |
| const unsigned | MantisInfo::NumLEDs = NumPIDJoints |
| There's an LED on every dynamixel, but can't see most of them, so save some computational resources and only expose the visible ones. | |
| const unsigned | MantisInfo::NumOutputs = NumWheels + NumPIDJoints + NumLEDs |
| the total number of outputs | |
| const unsigned | MantisInfo::NumReferenceFrames = NumOutputs + NumLegs + NumArms + NumGrippers + 1 + 1 |
| for the feet, grippers, base and camera | |
| const float | MantisInfo::BallOfFootRadius = 0 |
| radius of the ball of the foot | |
| const unsigned | MantisInfo::FrontLegExtra = JointsPerFrLeg -1 |
| The number of extra joints in front legs. | |
Input Offsets | |
The order in which inputs should be stored | |
| #define | RAD(deg) (((deg) * (float)M_PI ) / 180.0f) |
| Just a little macro for converting degrees to radians. | |
| #define | __RI_RAD_FLAG |
| a flag so we undef these after we're done - do you have a cleaner solution? | |
| enum | MantisInfo::ButtonOffset_t { MantisInfo::GreenButOffset, MantisInfo::RedButOffset, MantisInfo::YellowButOffset } |
holds offsets to different buttons in WorldState::buttons[] More... | |
| enum | MantisInfo::SensorOffset_t { MantisInfo::LeftIRDistOffset, MantisInfo::CenterIRDistOffset, MantisInfo::IRDistOffset = CenterIRDistOffset, MantisInfo::RightIRDistOffset, MantisInfo::LeftLuminosityOffset, MantisInfo::CenterLuminosityOffset, MantisInfo::RightLuminosityOffset, MantisInfo::MicVolumeOffset, MantisInfo::MicSpikeCountOffset, MantisInfo::PowerRemainOffset, MantisInfo::PowerThermoOffset, MantisInfo::PowerVoltageOffset } |
holds offset to different sensor values in WorldState::sensors[] More... | |
| enum | MantisInfo::ServoParam_t { MantisInfo::DYNAMIXEL_SLOPE = 0, MantisInfo::DYNAMIXEL_PUNCH, MantisInfo::DYNAMIXEL_MARGIN } |
offsets into DefaultPIDs, since Dynamixel servos don't actually use PID control, but a different set of parameters More... | |
| const char *const | MantisInfo::buttonNames [NumButtons+1] = { "GreenBut", "RedBut", "YellowBut", NULL } |
| Provides a string name for each button. | |
| const char *const | MantisInfo::sensorNames [NumSensors+1] |
| Provides a string name for each sensor. | |
| const char *const | MantisInfo::outputNames [NumReferenceFrames+1] |
| Names for each of the outputs. | |
| const MantisCapabilities | MantisInfo::capabilities |
| allocation declared in RobotInfo.cc | |
| const float | MantisInfo::DefaultPIDs [NumPIDJoints][3] |
| Dynamixel servos don't use PID control. Instead, these values indicate compliance slope (P), punch (add to P*error), compliance margin (min error to start applying torque) (see ServoParam_t). | |
| const float | MantisInfo::MaxOutputSpeed [NumOutputs] |
| These values are our recommended maximum joint velocities, in rad/ms. | |
| const float | MantisInfo::outputRanges [NumOutputs][2] |
| This table holds the software limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange). | |
| const float | MantisInfo::mechanicalLimits [NumOutputs][2] |
| This table holds the mechanical limits of each of the outputs, first index is the output offset, second index is MinMaxRange_t (i.e. MinRange or MaxRange). | |
Output Offsets | |
Corresponds to entries in ERS7Info::PrimitiveName, defined at the end of this file | |
| enum | MantisInfo::LegOrder_t { MantisInfo::LFrLegOrder = 0, MantisInfo::RFrLegOrder, MantisInfo::LMdLegOrder, MantisInfo::RMdLegOrder, MantisInfo::LBkLegOrder, MantisInfo::RBkLegOrder } |
the ordering of legs More... | |
| enum | MantisInfo::FrLegOffset_t { MantisInfo::FrSweepOffset = 0, MantisInfo::FrElevatorOffset, MantisInfo::FrTwist1Offset, MantisInfo::FrElbowOffset, MantisInfo::FrTwist2Offset, MantisInfo::FrWristOffset, MantisInfo::FrGripperOffset } |
The offsets within the Front Legs. Note that the ordering matches the actual physical ordering of joints on the appendage. More... | |
| enum | MantisInfo::PosLegOffset_t { MantisInfo::PosSweepOffset = 0, MantisInfo::PosRotorOffset, MantisInfo::PosElevatorOffset, MantisInfo::PosKneeOffset } |
The offsets within the Posterior Legs. Note that the ordering matches the actual physical ordering of joints on the appendage. More... | |
| enum | MantisInfo::TPROffset_t { MantisInfo::PanOffset = 0, MantisInfo::TiltOffset, MantisInfo::RollOffset } |
The offsets of appendages with tilt (elevation), pan (heading), and roll or nod joints (i.e. head/wrist). More... | |
| enum | MantisInfo::LegOffset_t { MantisInfo::LFrLegOffset = LegOffset+LFrLegOrder*JointsPerFrLeg, MantisInfo::RFrLegOffset = LegOffset+RFrLegOrder*JointsPerFrLeg, MantisInfo::LMdLegOffset = LegOffset+LMdLegOrder*JointsPerPosLeg + FrontLegExtra, MantisInfo::RMdLegOffset = LegOffset+RMdLegOrder*JointsPerPosLeg + FrontLegExtra, MantisInfo::LBkLegOffset = LegOffset+LBkLegOrder*JointsPerPosLeg + FrontLegExtra, MantisInfo::RBkLegOffset = LegOffset+RBkLegOrder*JointsPerPosLeg + FrontLegExtra } |
The offsets of the individual legs, add REKOffset_t value to access specific joint. More... | |
| enum | MantisInfo::HeadOffset_t { MantisInfo::HeadPanOffset = HeadOffset, MantisInfo::HeadTiltOffset, MantisInfo::HeadRollOffset } |
These are 'absolute' offsets for the neck joints, don't need to add to HeadOffset like TPROffset_t values do. More... | |
| enum | MantisInfo::LEDOffset_t { MantisInfo::PowerRedLEDOffset = LEDOffset, MantisInfo::PowerGreenLEDOffset, MantisInfo::PlayLEDOffset, MantisInfo::AdvanceLEDOffset } |
The offsets of the individual LEDs. More... | |
| typedef unsigned int | MantisInfo::LEDBitMask_t |
| So you can be clear when you're refering to a LED bitmask. | |
| const unsigned | MantisInfo::PIDJointOffset = 0 |
| The beginning of the PID Joints. | |
| const unsigned | MantisInfo::LegOffset = PIDJointOffset |
| the offset of the beginning of the regular leg joints (after the 1 rotator joint for the right front leg): NumLegs of JointsPerLeg each, in LegOrder_t order; see LegOffset_t | |
| const unsigned | MantisInfo::ThoraxJointOffset = LegOffset+NumLegJoints |
| the offset of the beginning of the head joints, add TPROffset_t to get specific joint | |
| const unsigned | MantisInfo::HeadOffset = ThoraxJointOffset + 1 |
| the ordering of legs | |
| const unsigned | MantisInfo::LEDOffset = PIDJointOffset + NumPIDJoints |
| the offset of LEDs in WorldState::outputs and MotionCommand functions, see LedOffset_t for specific offsets | |
| const unsigned | MantisInfo::BaseFrameOffset = NumOutputs |
| Use with kinematics to refer to base reference frame. | |
| const unsigned | MantisInfo::FootFrameOffset = BaseFrameOffset + 1 |
| Use with kinematics to refer to feet reference frames (add appropriate LegOrder_t to specify which paw). | |
| const unsigned | MantisInfo::GripperFrameOffset = FootFrameOffset+NumLegs |
| Use with kinematics to refer to gripper reference frame. | |
| const unsigned | MantisInfo::CameraFrameOffset = GripperFrameOffset + NumGrippers |
| Use with kinematics to refer to camera reference frame. | |
| const LEDOffset_t | MantisInfo::RedLEDOffset = PowerRedLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisInfo::BlueLEDOffset = AdvanceLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisInfo::GreenLEDOffset = PlayLEDOffset |
| the ordering of legs | |
| const LEDOffset_t | MantisInfo::YellowLEDOffset = AdvanceLEDOffset |
| the ordering of legs | |
| const LEDBitMask_t | MantisInfo::BlueLEDMask = (1<<(AdvanceLEDOffset-LEDOffset)) | (1<<(PowerRedLEDOffset-LEDOffset)) |
| the ordering of legs | |
| const LEDBitMask_t | MantisInfo::GreenLEDMask = 1<<(GreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | MantisInfo::YellowLEDMask = 1<<(YellowLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | MantisInfo::RedLEDMask = 1<<(RedLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | MantisInfo::PowerRedLEDMask = 1<<(PowerRedLEDOffset-LEDOffset) |
| mask corresponding to BlueLEDOffset | |
| const LEDBitMask_t | MantisInfo::PowerGreenLEDMask = 1<<(PowerGreenLEDOffset-LEDOffset) |
| mask corresponding to GreenLEDOffset | |
| const LEDBitMask_t | MantisInfo::PlayLEDMask = 1<<(PlayLEDOffset-LEDOffset) |
| mask corresponding to YellowLEDOffset | |
| const LEDBitMask_t | MantisInfo::AdvanceLEDMask = 1<<(AdvanceLEDOffset-LEDOffset) |
| mask corresponding to RedLEDOffset | |
| const LEDBitMask_t | MantisInfo::FaceLEDMask = 0 |
| LEDs for the face panel (all FaceLEDPanelMask<<(0:NumFacePanelLEDs-1) entries). | |
| const LEDBitMask_t | MantisInfo::AllLEDMask = (LEDBitMask_t)~0 |
| selects all of the leds | |
Detailed Description
Defines some capabilities of the Mantis robots.
Definition in file MantisInfo.h.
Define Documentation
| #define __RI_RAD_FLAG |
a flag so we undef these after we're done - do you have a cleaner solution?
Definition at line 330 of file MantisInfo.h.
| #define RAD | ( | deg | ) | (((deg) * (float)M_PI ) / 180.0f) |
Just a little macro for converting degrees to radians.
Definition at line 328 of file MantisInfo.h.
